High bandwidth adaptive robust control for hydraulic rotary actuator

This paper studies on improving the bandwidth of electro-hydraulic rotary actuator. Electro-hydraulic servo system is a typical nonlinear system, and also usually disturbed by internal and external uncertain factors. The nonlinear and uncertainty characteristics make the conventional controller not yield to the system high bandwidth requirement. In this paper, an adaptive robust controller based on varying boundary discontinuous projection is proposed. Online parameter estimation based its empirical varying trail is given to adapt the proposed controller due to the system nonlinear characteristics. A simulation case study and comparative results are shown that the tracking performance and the bandwidth of the hydraulic rotary actuator are greatly enhanced.

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